Tele-control electrical vehicle system using wave variables

In this paper, a design of the tele-control electrical vehicle system with time delay is presented using passivity approach. We showed that the application of wave variable formalism allows the stability of the system in spite of the communication delays and scaling factors between the operator and the electrical vehicle. Conditions of the passivity are given in order to ensure the stability of our tele-control system. Finally, for demonstration we have used the proposed architecture in real network environment. The experimental results are given to prove the effectiveness of the approach of passivity.